Method and device for selecting a transfer orbit type, computer device and storage medium

Abstract

The application provides a transfer orbit type selection method and device, computer equipment and a storage medium, relates to the field of spacecraft orbit transfer technology, and comprises the following steps: determining the initial point geocentric distance r1, the terminal point geocentric distance r2, the initial point and the terminal point geocentric angle θ, and the orbit transfer time t; performing normalization processing on the initial point and the terminal point geocentric angle θ and the orbit transfer time t to obtain the normalized geocentric angle θ' and the orbit transfer time t'; constructing a relationship criterion for selecting the transfer orbit type according to the normalized geocentric angle θ' and the orbit transfer time t'; the relationship criterion is a relationship formula formed by the normalized geocentric angle θ' and the orbit transfer time t'; wherein the transfer orbit is divided into the first type of transfer orbit and the second type of transfer orbit according to the different positions of the transfer orbit virtual focal points; and the transfer orbit type is selected according to the relationship criterion between the transfer orbit types. The application provides a criterion that does not depend on specific initial conditions.

Description

Technical Field

[0001] This application relates to the field of spacecraft orbit transfer technology, and in particular to a method and apparatus for selecting transfer orbit type, computer equipment and storage medium. Background Technology

[0002] The Lambert problem is a classic two-point boundary value problem within the framework of the two-body theory of aerospace dynamics. It has wide applications in spacecraft rendezvous. It is typically described as: given an initial position, an ending position, and a transfer time, finding the transfer trajectory parameters, such as the semi-major axis; or given an initial position, an ending position, and the semi-major axis of the transfer trajectory, finding the transfer time. For a given initial and ending position, transfer trajectories are classified into Type I and Type II transfer trajectories based on the location of the virtual focus. For details, refer to the article "Lambert Problem in Spacecraft Rendezvous" published by Zhu Renzhang, Meng Wei, and Hu Xiting in the December 2006 issue of the journal *China Space Science and Technology*, Vol. 6, pp. 49-55. This article states that given an initial point P1 and an ending point P2, when the same semi-major axis 'a' can obtain a virtual focus F1 symmetrical to the line connecting P1 and P2... * With F2 * This indicates that for the same semi-major axis value, there are two transition paths passing through points P1 and P2. Among them, F1 * Located on the transfer string Outside the region formed by the transfer elliptical arc segments P1 and P2, there is a type I transfer orbit; F2 * Located on the string Within the region formed by the transfer elliptical arc segment P1P2, there is a type II transfer orbit.

[0003] The two types of transfer orbits have different calculation formulas, leading to the problem of selecting the appropriate orbit type in practical applications. Choosing the wrong transfer orbit type will result in incorrect calculations or prevent the iterative process from converging. Due to the complexity of Lambert's formula, a concise theoretical analysis cannot be obtained through analytical methods. Therefore, in engineering applications, there is a lack of simple and applicable solutions for selecting the appropriate transfer orbit type based on specific conditions. Summary of the Invention

[0004] The technical problem to be solved by this application is to provide a method and apparatus for selecting transfer orbit types, a computer device and a storage medium, in response to the above-mentioned shortcomings of the prior art.

[0005] A method for selecting transfer orbit type, comprising:

[0006] Determine the geocentric distance r1 from the initial point of the spacecraft, the geocentric distance r2 from the final point, the geocentric angle θ between the initial and final points, and the orbital transfer time t;

[0007] The geocentric angle θ at the initial and final points and the orbital transfer time t are normalized to obtain the normalized geocentric angle θ. ′ and orbital transfer time t ′ ;

[0008] Based on the normalized geocentric angle θ ′ and orbital transfer time t ′ A relational criterion for selecting the transfer orbit type is constructed; the relational criterion is the normalized geocentric angle θ. ′ and orbital transfer time t ′ The relationship is formed; wherein, the transfer trajectories are divided into type I transfer trajectories and type II transfer trajectories according to the different positions of the virtual focal points of the transfer trajectories;

[0009] Select the transfer orbit type based on the relationship criteria between the transfer orbit types.

[0010] In an improved technical solution, the geocentric angle θ of the initial point and the endpoint and the orbital transfer time t are normalized to obtain a normalized geocentric angle θ. ′ and orbital transfer time t ′ Specifically:

[0011] Calculate the period T of the Hohmann transfer orbit between two circular orbits with center-to-center distances of r1 and r2. hohman ; Where, μ e =3.986005×10 14 m 3 / s 2 The gravitational constant of Earth;

[0012] Using π and the period T of the Hohmann transfer orbit hohman To normalize the units, the geocentric angle θ and orbital transfer time t at the initial and final points are normalized respectively to obtain the normalized geocentric angle θ. ′ and orbital transfer time t ′ The normalized calculation formula is as follows:

[0013]

[0014]

[0015] In an improved technical solution, the step of basing the normalized geocentric angle θ ′ and orbital transfer time t ′ Construct relational criteria for selecting transfer orbit types, specifically including:

[0016] Using the normalized geocentric angle θ ′ and orbital transfer time t ′Construct a coordinate system for the coordinate axes, and determine the distribution areas of Type I and Type II transfer orbits within the constructed coordinate system;

[0017] In the constructed coordinate system, determine the boundary lines of the distribution areas of Type I and Type II transfer orbits;

[0018] In the constructed coordinate system, the boundary line is fitted to obtain information about the normalized geocentric angle θ. ′ and orbital transfer time t ′ The fitting relationship;

[0019] Based on the fitted relationship, the criterion for the relationship between Type I transfer orbits and Type II transfer orbits is determined.

[0020] In an improved technical solution, the relationship criterion is specifically as follows:

[0021] (1) When 0.1≤θ′≤0.473,

[0022] If t′≥21.981θ ′4 -28.223θ ′3 +12.762θ ′2 -1.7795θ′+0.17325, and t′≤1.748θ ′3 -0.45304θ ′2 If the formula is +1.3866θ′-0.0057689, then a Type I transfer orbit is selected.

[0023] If t′≥0.27214θ′ 4 -0.87064θ′ 3 +0.070051θ′ 2 If +1.3782θ′+0.15064, then a Type II transfer orbit is selected;

[0024] (2) When 0.473≤θ′≤1.526,

[0025] If t′≥0.20833θ ′4 -0.64012θ ′3 +0.25662θ ′2 +0.57277θ′+0.027199, and t′≤0.27214θ ′4 -0.87064θ ′3 +0.070051θ ′2 If +1.3782θ′+0.15064, then a Type I transfer orbit is selected;

[0026] If t′≥0.27214θ ′4 -0.87064θ ′3+0.070051θ ′2 If +1.3782θ′+0.15064, then a Type II transfer orbit is selected;

[0027] (3) When 1.526 ≤ θ′ ≤ 1.9,

[0028] If t′≥-0.94723θ ′4 +6.2576θ ′3 -15.301θ ′2 +16.245θ′-5.906, and t′≤1.0319θ ′4 -8.3816θ ′3 +26.832θ ′2 If the coordinates are -39.816θ′+23.261, then a Type I transfer orbit is selected.

[0029] If t′≥0.27214θ ′4 -0.87064θ ′3 +0.070051θ ′2 If the sum is +1.3782θ′+0.15064, then a Type II transfer orbit is selected.

[0030] On the other hand, this application also provides a transfer orbit type selection device, comprising:

[0031] The determination module is used to determine the geocentric distance r1 from the initial point of the spacecraft, the geocentric distance r2 from the final point, the geocentric angle θ between the initial point and the final point, and the orbital transfer time t.

[0032] The normalization module is used to normalize the geocentric angle θ and orbital transfer time t at the initial and final points to obtain the normalized geocentric angle θ. ′ and orbital transfer time t ′ ;

[0033] Build a module for calculating the normalized geocentric angle θ ′ and orbital transfer time t ′ A relational criterion for selecting the transfer orbit type is constructed; the relational criterion is the normalized geocentric angle θ. ′ and orbital transfer time t ′ The relationship is formed; wherein, the transfer trajectories are divided into type I transfer trajectories and type II transfer trajectories according to the different positions of the virtual focal points of the transfer trajectories;

[0034] The selection module is used to select the transfer orbit type based on the relationship criteria between the transfer orbit types.

[0035] In an improved technical solution, the normalization module includes:

[0036] The calculation submodule is used to calculate the period T of the Hohmann transfer orbit between two circular orbits with center-to-center distances of r1 and r2. hohman ; Where, μ e =3.986005×10 14 m 3 / s 2 The gravitational constant of Earth;

[0037] The normalization submodule is used to calculate the period T of the Hohmann transfer orbit with respect to π. hohman To normalize the units, the geocentric angle θ and orbital transfer time t at the initial and final points are normalized respectively to obtain the normalized geocentric angle θ. ′ and orbital transfer time t ′ The normalized calculation formula is as follows:

[0038]

[0039]

[0040] In an improved technical solution, the building module includes:

[0041] The region determination submodule is used to determine the region using a normalized geocentric angle θ. ′ and orbital transfer time t ′ Construct a coordinate system for the coordinate axes, and determine the distribution areas of Type I and Type II transfer orbits within the constructed coordinate system;

[0042] The boundary line determination submodule is used to determine the boundary lines of the distribution areas of Type I and Type II transfer orbits in the constructed coordinate system;

[0043] The fitting submodule is used to fit the boundary line in the constructed coordinate system to obtain information about the normalized geocentric angle θ. ′ and orbital transfer time t ′ The fitting relationship;

[0044] The criterion determination submodule is used to determine the relationship criterion between the Type I transfer orbit and the Type II transfer orbit based on the fitted relation.

[0045] In an improved technical solution, the relationship criterion is specifically as follows:

[0046] (1) When 0.1≤θ′≤0.473,

[0047] If t′≥21.981θ ′4 -28.223θ ′3 +12.762θ ′2-1.7795θ′+0.17325, and t′≤1.748θ ′3 -0.45304θ ′2 If the formula is +1.3866θ′-0.0057689, then a Type I transfer orbit is selected.

[0048] If t′≥0.27214θ′ 4 -0.87064θ′ 3 +0.070051θ′ 2 If +1.3782θ′+0.15064, then a Type II transfer orbit is selected;

[0049] (2) When 0.473≤θ′≤1.526,

[0050] If t′≥0.20833θ ′4 -0.64012θ ′3 +0.25662θ ′2 +0.57277θ′+0.027199, and t′≤0.27214θ ′4 -0.87064θ ′3 +0.070051θ ′2 If +1.3782θ′+0.15064, then a Type I transfer orbit is selected;

[0051] If t′≥0.27214θ ′4 -0.87064θ ′3 +0.070051θ ′2 If +1.3782θ′+0.15064, then a Type II transfer orbit is selected;

[0052] (3) When 1.526 ≤ θ′ ≤ 1.9,

[0053] If t′≥-0.94723θ ′4 +6.2576θ ′3 -15.301θ ′2 +16.245θ′-5.906, and t′≤1.0319θ ′4 -8.3816θ ′3 +26.832θ ′2 If the coordinates are -39.816θ′+23.261, then a Type I transfer orbit is selected.

[0054] If t′≥0.27214θ ′4 -0.87064θ ′3 +0.070051θ ′2 If the sum is +1.3782θ′+0.15064, then a Type II transfer orbit is selected.

[0055] On the other hand, this application also provides a computer device, the computer device including a memory and a processor, the memory being used to store computer instructions;

[0056] The processor executes computer instructions stored in the memory to cause the computer device to perform the transfer track type selection method described above.

[0057] On the other hand, this application also provides a computer-readable storage medium storing computer program code, which, when executed by a computer device, performs the aforementioned transfer track type selection method.

[0058] This application provides a criterion that does not depend on specific initial conditions by normalizing parameters. Furthermore, the criterion given by numerical calculation is simple in form and easy to use, solving problems that are difficult to solve by theoretical analysis. Attached Figure Description

[0059] Figure 1 This is one of the flowcharts for the transfer orbit type selection method in the embodiments of this application.

[0060] Figure 2 This is the second flowchart of the transfer orbit type selection method in the embodiments of this application.

[0061] Figure 3 This is the third flowchart of the transfer orbit type selection method in the embodiments of this application.

[0062] Figure 4 These are geometric schematic diagrams of two types of transfer orbits in the embodiments of this application.

[0063] Figure 5 This is a schematic diagram of the distribution area of ​​type I transfer orbits and type II transfer orbits in the coordinate system in the embodiments of this application.

[0064] Figure 6 This is one of the schematic block diagrams of the transfer track type selection device in the embodiments of this application.

[0065] Figure 7 This is the second schematic block diagram of the transfer track type selection device in the embodiments of this application.

[0066] Figure 8 This is the third schematic block diagram of the transfer track type selection device in the embodiments of this application.

[0067] Figure 9 This is a schematic block diagram of the computer device in the embodiments of this application. Detailed Implementation

[0068] The following are specific embodiments of this application, described in conjunction with the accompanying drawings, to further illustrate the technical solutions of this application. However, this application is not limited to these embodiments. In the following description, specific details such as particular configurations and components are provided merely to aid in a comprehensive understanding of the embodiments of this application. Therefore, those skilled in the art should understand that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of this application. Furthermore, for clarity and brevity, descriptions of known functions and structures have been omitted.

[0069] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other.

[0070] This application proposes a method for selecting transfer orbit types for two types of transfer orbits in the Lambert rendezvous problem. By selecting an appropriate normalization unit, it provides criteria for selecting the transfer orbit type and a calculation method for those criteria, facilitating engineering applications. Specifically, it presents a criterion for the relationship between the normalized geocentric angle and transfer time of the transfer orbit and the orbit transfer type. Based on this criterion, given specific calculation conditions—initial and final positions and transfer time—the correct transfer orbit type can be determined according to the calculation results. The method for selecting the transfer orbit type is explained in detail below with reference to the accompanying drawings.

[0071] refer to Figure 1 The transfer track type selection method includes steps S101 to S104. This transfer track type selection method is applied to computer equipment. The following is a detailed description of the transfer track type selection method with reference to the accompanying drawings.

[0072] Step S101: Determine the geocentric distance r1 from the initial point of the spacecraft, the geocentric distance r2 from the final point, the geocentric angle θ between the initial point and the final point, and the orbital transfer time t.

[0073] Step S102: Normalize the geocentric angle θ of the initial point and the endpoint and the orbital transfer time t to obtain the normalized geocentric angle θ. ′ and orbital transfer time t ′ .

[0074] Step S103, based on the normalized geocentric angle θ ′ and orbital transfer time t ′ A relational criterion for selecting the transfer orbit type is constructed; the relational criterion is the normalized geocentric angle θ. ′ and orbital transfer time t ′ The relationship is formed; wherein, the transfer orbit is divided into type I transfer orbit and type II transfer orbit according to the different positions of the virtual focus of the transfer orbit.

[0075] Step S104: Select the transfer orbit type according to the relationship criterion between the transfer orbit types.

[0076] refer to Figure 4 As shown in the figure, the geocentric angle between the initial point P1 and the endpoint P2 is θ, the geocentric distance of the initial point P1 is r1, and the geocentric distance of the endpoint P2 is r2. Given the initial point P1 and the endpoint P2, if the same semi-major axis can yield virtual foci 1 and virtual foci 2 symmetrical about the line connecting P1 and P2, it indicates that there are two transition paths passing through points P1 and P2 for the same semi-major axis value. Virtual focus 1 is located on the transition chord. Outside the region formed by the elliptical arc segments P1 and P2, there is a type I transfer orbit; the virtual focus 2 is located on the chord. The region formed by the transfer elliptical arc segments P1 and P2 represents a Type II transfer orbit. It should be understood that in existing technologies, the calculation formulas for the two types of transfer orbits differ, leading to the problem of selecting the appropriate orbit type in practical applications. Incorrect selection of the transfer orbit type will result in incorrect calculation results or the iteration process failing to converge. Due to the complexity of Lambert's formula, a concise theoretical analysis result cannot be obtained through analytical methods. Therefore, in engineering applications, there is a lack of simple and applicable solutions for selecting the appropriate transfer orbit type based on specific conditions.

[0077] In this embodiment, the initial geocentric distance r1, the final geocentric distance r2, the geocentric angle between the initial and final points are set to θ, and the orbital transfer time is set to t. Based on these initial conditions, a suitable orbital transfer type is determined. First, the geocentric angle θ between the initial and final points and the orbital transfer time t are normalized to obtain a normalized geocentric angle θ. ′ and orbital transfer time t ′ .

[0078] In step S103, based on the normalized geocentric angle θ ′ and orbital transfer time t ′ A relational criterion for selecting the transfer orbit type is constructed; the relational criterion is the normalized geocentric angle θ. ′ and orbital transfer time t ′ The relationship is formed as follows: the transfer trajectories are divided into Type I and Type II transfer trajectories according to the different positions of their virtual foci. Here, the criterion for selecting the transfer trajectory type is based on the normalized geocentric angle θ. ′ and orbital transfer time t ′ The construction allows the relation criteria for selecting the transfer track type to have a unified expression form, which can be adapted to different initial conditions, thus making the relation criteria no longer dependent on specific initial conditions.

[0079] In this embodiment, the above steps are applied in a computer device, which includes a processor and a data storage device, and can run a computer program to implement some or all of the above steps. The computer device can be a ground-based device or a device on a spacecraft.

[0080] After constructing the relational criteria for selecting the transfer orbit type, the geocentric angles θ and t of the initial and final points can be normalized based on the spacecraft's initial point geocentric distance r1, final point geocentric distance r2, geocentric angles θ of the initial and final points, and orbit transfer time t, to obtain the normalized geocentric angle θ. ′ and orbital transfer time t ′ And the obtained normalized geocentric angle θ ′ and orbital transfer time t ′ The transfer orbit type is selected using a criterion based on the relationship between transfer orbit types. All of the above processes can be automated using computer equipment, thus achieving automated selection of the transfer orbit type.

[0081] In this application embodiment, there can be multiple normalization methods. The normalization process is to obtain a unified relational criterion, so that different initial conditions can be adapted to this relational criterion, making the selection process of transfer orbit type more convenient and simple.

[0082] refer to Figure 2 In one embodiment of this application, step S102 above involves normalizing the geocentric angle θ of the initial point and the endpoint and the orbital transfer time t to obtain a normalized geocentric angle θ. ′ and orbital transfer time t ′ Specifically:

[0083] Step S102a: Calculate the period T of the Hohmann transfer orbit between the two circular orbits with center-to-center distances of r1 and r2. hohman ; Where, μ e =3.986005×10 14 m 3 / s 2 The gravitational constant of Earth;

[0084] Step S102b, using π and the period T of the Hohmann transfer orbit. hohman To normalize the units, the geocentric angle θ and orbital transfer time t at the initial and final points are normalized respectively to obtain the normalized geocentric angle θ. ′ and orbital transfer time t ′ The normalized calculation formula is as follows:

[0085]

[0086]

[0087] It should be understood that the Hohmann transfer refers to the double-pulse tangential transfer between coplanar circular orbits in the two-body problem, which has the property of having the lowest energy among all double-pulse transfers.

[0088] In the above steps, the unit for normalizing the geocentric angle θ at the initial and final points is pi (π), and the unit for normalizing the orbit transfer time t is the period T of the Hohmann transfer orbit. hohman The formulas for normalizing the geocentric angle θ and the orbital transfer time t are shown above. After normalization, the normalized geocentric angle θ is obtained. ′ and orbital transfer time t ′ .

[0089] refer to Figure 3 In one embodiment of this application, step S103 above is based on the normalized geocentric angle θ. ′ and orbital transfer time t ′ Construct relational criteria for selecting transfer orbit types, specifically including:

[0090] Step S103a, using the normalized geocentric angle θ ′ and orbital transfer time t ′ Construct a coordinate system for the coordinate axes, and determine the distribution areas of Type I and Type II transfer orbits within the constructed coordinate system.

[0091] Step S103b: In the constructed coordinate system, determine the boundary lines of the distribution areas of Type I transfer orbits and Type II transfer orbits.

[0092] Step S103c: Fit the boundary line in the constructed coordinate system to obtain information about the normalized geocentric angle θ. ′ and orbital transfer time t ′ The fitting relationship.

[0093] Step S103d: Determine the relationship criterion between Type I transfer orbits and Type II transfer orbits based on the fitted relationship.

[0094] Based on normalization, a relational criterion for selecting the transfer orbit type is constructed, wherein the relational criterion is the normalized geocentric angle θ. ′ and orbital transfer time t ′ The relationship between the components is as follows. The transfer orbits are classified into Type I transfer orbits and Type II transfer orbits based on the different positions of their virtual foci.

[0095] refer to Figure 5 At the normalized geocentric angle θ′ and orbital transfer time t ′ In a coordinate system constructed for the coordinate axes, the normalized orbital transfer time t ′ The x-axis represents the normalized geocentric angle θ. ′ The vertical axis represents the coordinate system in which the distribution regions of Type I and Type II transfer orbits are shown. (Reference) Figure 5 The distribution area corresponding to the Type II transfer orbit is located above, and the area corresponding to the Type I transfer orbit is located below, with the two types of transfer orbit areas adjacent in the middle and separated on both sides. Each type of transfer orbit distribution area has its own boundary line. Then, in the constructed coordinate system, the boundary lines of the distribution areas of the Type I and Type II transfer orbits are determined. The criteria for selecting the Type I and Type II transfer orbits can be obtained through these boundary lines. Further, based on the fitted relationship, the criterion for the relationship between the Type I and Type II transfer orbits is determined.

[0096] It should be understood that the boundary lines of the distribution regions of Type I and Type II transfer orbits can be composed of one or more independent boundary lines, and each boundary line can be composed of one or more curve segments, each of which can be expressed by a different fitting function. Therefore, the boundary lines of the distribution regions of Type I and Type II transfer orbits can both be composed of one or more fitting functions.

[0097] For details, please refer to the following: Figure 5 The boundary line of the distribution area for Type II transfer orbits is curved and located below this area. The boundary line of the distribution area for Type I transfer orbits includes both upper and lower boundary lines.

[0098] Furthermore, the relationship criterion is specifically as follows:

[0099] (1) When 0.1≤θ′≤0.473,

[0100] If t′≥21.981θ ′4 -28.223θ ′3 +12.762θ ′2 -1.7795θ′+0.17325, and t′≤1.748θ ′3 -0.45304θ ′2 If the formula is +1.3866θ′-0.0057689, then a Type I transfer orbit is selected.

[0101] If t′≥0.27214θ′ 4 -0.87064θ′ 3 +0.070051θ′ 2If +1.3782θ′+0.15064, then a Type II transfer orbit is selected;

[0102] (2) When 0.473≤θ′≤1.526,

[0103] If t′≥0.20833θ ′4 -0.64012θ ′3 +0.25662θ ′2 +0.57277θ′+0.027199, and t′≤0.27214θ ′4 -0.87064θ ′3 +0.070051θ ′2 If +1.3782θ′+0.15064, then a Type I transfer orbit is selected;

[0104] If t′≥0.27214θ ′4 -0.87064θ ′3 +0.070051θ ′2 If +1.3782θ′+0.15064, then a Type II transfer orbit is selected;

[0105] (3) When 1.526 ≤ θ′ ≤ 1.9,

[0106] If t′≥-0.94723θ ′4 +6.2576θ ′3 -15.301θ ′2 +16.245θ′-5.906, and t′≤1.0319θ ′4 -8.3816θ ′3 +26.832θ ′2 If the coordinates are -39.816θ′+23.261, then a Type I transfer orbit is selected.

[0107] If t′≥0.27214θ ′4 -0.87064θ ′3 +0.070051θ ′2 If the sum is +1.3782θ′+0.15064, then a Type II transfer orbit is selected.

[0108] The relationship criterion is generated by the boundary lines of the distribution regions of Type I and Type II transfer orbits in the coordinate system, with reference to... Figure 5 The normalized geocentric angle θ ′ That is, the horizontal coordinate is divided into three segments: 0.1≤θ′≤0.473, 0.473≤θ′≤1.526, and 1.526≤θ′≤1.9. In different coordinate intervals, the criteria for determining Type I and Type II transfer orbits are different.

[0109] This application provides a method for selecting transfer orbit types in the spatial rendezvous Lambert problem, applicable to practical engineering tasks. Due to the complexity of the calculation formulas in the Lambert problem, it is difficult to obtain concise theoretical analysis results for orbit type selection. This application proposes an orbit type determination method based on numerical calculations, which has clear physical meaning, is convenient and fast to calculate, and is suitable for practical engineering applications. It provides criteria that do not depend on specific initial conditions, and the criteria based on numerical calculations are simple in form and easy to use, solving problems that are difficult to address through theoretical analysis.

[0110] refer to Figure 6 This application also provides a transfer orbit type selection device, which corresponds to the transfer orbit type selection method described above, and includes: a determination module 601, a normalization module 602, a construction module 603, and a selection module 604.

[0111] The determination module 601 is used to determine the geocentric distance r1 of the initial point of the spacecraft, the geocentric distance r2 of the final point, the geocentric angle θ between the initial point and the final point, and the orbital transfer time t.

[0112] Normalization module 602 is used to normalize the geocentric angle θ and orbital transfer time t at the initial and final points to obtain a normalized geocentric angle θ. ′ and orbital transfer time t ′ .

[0113] Module 603 is used to construct based on the normalized geocentric angle θ ′ and orbital transfer time t ′ A relational criterion for selecting the transfer orbit type is constructed; the relational criterion is the normalized geocentric angle θ. ′ and orbital transfer time t ′ The relationship is formed; wherein, the transfer orbit is divided into type I transfer orbit and type II transfer orbit according to the different positions of the virtual focus of the transfer orbit.

[0114] Selection module 604 is used to select a transfer orbit type according to the relationship criteria between the transfer orbit types.

[0115] It should be noted here that the aforementioned determining module 601, normalization module 602, construction module 603, and selection module 604 correspond to steps S101 to S104 involved in the first part of the embodiments of this application, and the instances and application scenarios implemented by each module and the corresponding steps are the same.

[0116] In one embodiment of this application, reference is made to Figure 7 The normalization module 602 includes:

[0117] Calculation submodule 602a is used to calculate the period T of the Hohmann transfer orbit between two circular orbits with orbital distances of r1 and r2. hohman ; Where, μ e =3.986005×10 14 m 3 / s 2 The gravitational constant of Earth;

[0118] Normalization submodule 602b is used for orbitals with the period T of π and the Hohmann transfer orbit. hohman To normalize the units, the geocentric angle θ and orbital transfer time t at the initial and final points are normalized respectively to obtain the normalized geocentric angle θ. ′ and orbital transfer time t ′ The normalized calculation formula is as follows:

[0119]

[0120]

[0121] It should be noted here that the above-mentioned calculation submodule 602a and normalization submodule 602b correspond to steps S102a and S102b involved in the first part of the embodiments of this application, and the instances and application scenarios implemented by each module and the corresponding steps are the same.

[0122] In one embodiment of this application, reference is made to Figure 8 The construction module 603 includes:

[0123] Region determination submodule 603a, used to determine the region using a normalized geocentric angle θ ′ and orbital transfer time t ′ Construct a coordinate system for the coordinate axes, and determine the distribution areas of Type I and Type II transfer orbits within the constructed coordinate system.

[0124] The boundary line determination submodule 603b is used to determine the boundary lines of the distribution areas of Type I and Type II transfer orbits in the constructed coordinate system.

[0125] The fitting submodule 603c is used to fit the boundary line in the constructed coordinate system to obtain information about the normalized geocentric angle θ. ′ and orbital transfer time t ′ The fitting relationship.

[0126] The criterion determination submodule 603d is used to determine the relationship criterion between the Type I transfer orbit and the Type II transfer orbit based on the fitted relation.

[0127] It should be noted here that the above-mentioned region determination submodule 603a, boundary line determination submodule 603b, fitting submodule 603c, and criterion determination submodule 603d correspond to steps S103a to S103d involved in the first part of the embodiments of this application, and the instances and application scenarios implemented by each module and the corresponding steps are the same.

[0128] In one embodiment of this application, the relationship criterion is specifically:

[0129] (1) When 0.1≤θ′≤0.473,

[0130] If t′≥21.981θ ′4 -28.223θ ′3 +12.762θ ′2 -1.7795θ′+0.17325, and t′≤1.748θ ′3 -0.45304θ ′2 If the formula is +1.3866θ′-0.0057689, then a Type I transfer orbit is selected.

[0131] If t′≥0.27214θ′ 4 -0.87064θ′ 3 +0.070051θ′ 2 If +1.3782θ′+0.15064, then a Type II transfer orbit is selected;

[0132] (2) When 0.473≤θ′≤1.526,

[0133] If t′≥0.20833θ ′4 -0.64012θ ′3 +0.25662θ ′2 +0.57277θ′+0.027199, and t′≤0.27214θ ′4 -0.87064θ ′3 +0.070051θ ′2 If +1.3782θ′+0.15064, then a Type I transfer orbit is selected;

[0134] If t′≥0.27214θ ′4 -0.87064θ ′3 +0.070051θ ′2 If +1.3782θ′+0.15064, then a Type II transfer orbit is selected;

[0135] (3) When 1.526 ≤ θ′ ≤ 1.9,

[0136] If t′≥-0.94723θ ′4+6.2576θ ′3 -15.301θ ′2 +16.245θ′-5.906, and t′≤1.0319θ ′4 -8.3816θ ′3 +26.832θ ′2 If the coordinates are -39.816θ′+23.261, then a Type I transfer orbit is selected.

[0137] If t′≥0.27214θ ′4 -0.87064θ ′3 +0.070051θ ′2 If the sum is +1.3782θ′+0.15064, then a Type II transfer orbit is selected.

[0138] The relationship criterion is generated by the boundary lines of the distribution regions of Type I and Type II transfer orbits in the coordinate system, with reference to... Figure 5 The normalized geocentric angle θ ′ That is, the horizontal coordinate is divided into three segments: 0.1≤θ′≤0.473, 0.473≤θ′≤1.526, and 1.526≤θ′≤1.9. In different coordinate intervals, the criteria for determining Type I and Type II transfer orbits are different.

[0139] This application provides a trajectory type selection device for the spatial rendezvous Lambert problem, applicable to practical engineering tasks. Due to the complexity of the calculation formulas in the Lambert problem, it is difficult to obtain concise theoretical analysis results for trajectory type selection. This application proposes a trajectory type determination method based on numerical calculations, which has clear physical meaning, is convenient and fast to calculate, and is suitable for practical engineering applications. It provides criteria that do not depend on specific initial conditions, and the criteria based on numerical calculations are simple in form and easy to use, solving problems that are difficult to address through theoretical analysis.

[0140] Additionally, it should be noted that the transfer track type selection device provided in this embodiment corresponds to the transfer track type selection method provided in the previous part. The relevant description can be found in the previous part about the transfer track type selection method, and will not be repeated here.

[0141] refer to Figure 9 This application also provides a computer device 900, which includes a memory 902 and a processor 901. The memory 902 stores computer instructions; the processor 901 executes the computer instructions stored in the memory 902 to cause the computer device to perform the aforementioned transfer orbit type selection method. Related descriptions can be found in the description of the transfer orbit type selection method in this application.

[0142] This application also provides a computer-readable storage medium storing computer program code. When the computer program code is executed by a computer device, the computer device performs the aforementioned transfer track type selection method. For related explanations, please refer to the description of the transfer track type selection method in this application's embodiments.

[0143] The integrated modules described above, implemented as software functional modules, can be stored in a computer-readable storage medium. These software functional modules, stored in a storage medium, include several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute some steps of the methods of the various embodiments of this application.

[0144] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For instance, the division of modules is only a logical functional division, and there may be other division methods in actual implementation. For example, multiple modules may be combined or integrated into another system, or some features may be ignored or not executed.

[0145] The aforementioned storage medium can be implemented from any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The storage medium can be any available medium accessible to general-purpose or special-purpose computers.

[0146] In the above embodiments of this application, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0147] Furthermore, the device embodiment is basically similar to the method embodiment, so the description is relatively simple. For relevant details, please refer to the description of the method embodiment.

[0148] The specific embodiments described herein are merely illustrative examples of the spirit of this application. Those skilled in the art to which this application pertains may make various modifications or additions to the described specific embodiments or use similar methods to substitute them, without departing from the spirit of this application or exceeding the scope defined by the appended claims.

Claims

1. A method for selecting transfer orbit type, characterized in that, include: Determine the geocentric distance of the spacecraft's initial point Distance from the Earth's center at the endpoint The geocentric angle between the initial point and the endpoint orbital transfer time ; Geocentric angles of the initial and final points and orbital transfer time Perform normalization to obtain the normalized geocentric angle. and orbital transfer time ; Based on the normalized geocentric angle and orbital transfer time A relational criterion for selecting transfer orbit types is constructed; the relational criterion is the normalized geocentric angle. and orbital transfer time The relationship is formed; wherein, the transfer trajectories are divided into type I transfer trajectories and type II transfer trajectories according to the different positions of the virtual focal points of the transfer trajectories; Select the transfer orbit type based on the relationship criteria between the aforementioned transfer orbit types; Among them, the normalized geocentric angle and orbital transfer time Construct relational criteria for selecting transfer orbit types, specifically including: With normalized geocentric angle and orbital transfer time Construct a coordinate system for the coordinate axes, and determine the distribution areas of Type I and Type II transfer orbits within the constructed coordinate system; In the constructed coordinate system, determine the boundary lines of the distribution areas of Type I and Type II transfer orbits; In the constructed coordinate system, the boundary line is fitted to obtain information about the normalized geocentric angle. and orbital transfer time The fitting relationship; Based on the fitted relationship, the criterion for the relationship between Type I transfer orbits and Type II transfer orbits is determined.

2. The transfer orbit type selection method according to claim 1, characterized in that, The geocentric angles of the initial and final points and orbital transfer time Perform normalization to obtain the normalized geocentric angle. and orbital transfer time Specifically: Calculate the orbital distance from the Earth's center as follows: and The period of the Hohmann transfer orbit between the two circular orbits. ; ,in, The gravitational constant of Earth; Pi and the period of the Hohmann transfer orbit To normalize the units, the geocentric angles at the initial and final points are respectively... and orbital transfer time Perform normalization to obtain the normalized geocentric angle. and orbital transfer time The normalized calculation formula is as follows: ； 。 3. The transfer orbit type selection method according to claim 1, characterized in that, The specific criterion for determining the relationship is as follows: (1) When hour, like ,and If so, then select a Type I transfer orbit; like If so, then select a Type II transfer orbit; (2) When hour, like ,and If so, then select a Type I transfer orbit; like If so, then select a Type II transfer orbit; (3) When hour, like ,and If so, then select a Type I transfer orbit; like If so, then a Type II transfer orbit will be selected.

4. A transfer track type selection device, characterized in that, include: The determination module is used to determine the geocentric distance from the initial point of the spacecraft. Distance from the Earth's center at the endpoint The geocentric angle between the initial point and the endpoint orbital transfer time ; The normalization module is used to normalize the geocentric angles of the initial and final points. and orbital transfer time Perform normalization to obtain the normalized geocentric angle. and orbital transfer time ; Build a module for calculating the normalized geocentric angle. and orbital transfer time A relational criterion for selecting transfer orbit types is constructed; the relational criterion is the normalized geocentric angle. and orbital transfer time The relationship is formed; wherein, the transfer trajectories are divided into type I transfer trajectories and type II transfer trajectories according to the different positions of the virtual focal points of the transfer trajectories; The selection module is used to select the transfer orbit type based on the relationship criteria between the transfer orbit types; The building module includes: The region determination submodule is used to determine the region using normalized geocentric angles. and orbital transfer time Construct a coordinate system for the coordinate axes, and determine the distribution areas of Type I and Type II transfer orbits within the constructed coordinate system; The boundary line determination submodule is used to determine the boundary lines of the distribution areas of Type I and Type II transfer orbits in the constructed coordinate system; The fitting submodule is used to fit the boundary line in the constructed coordinate system to obtain information about the normalized geocentric angle. and orbital transfer time The fitting relationship; The criterion determination submodule is used to determine the relationship criterion between the Type I transfer orbit and the Type II transfer orbit based on the fitted relation.

5. The transfer track type selection device according to claim 4, characterized in that, The normalization module includes: The calculation submodule is used to calculate the orbital distance from the Earth's center, respectively. and The period of the Hohmann transfer orbit between the two circular orbits. ; ,in, The gravitational constant of Earth; The normalization submodule is used to calculate pi. and the period of the Hohmann transfer orbit To normalize the units, the geocentric angles at the initial and final points are respectively... and orbital transfer time Perform normalization to obtain the normalized geocentric angle. and orbital transfer time The normalized calculation formula is as follows: ； 。 6. The transfer track type selection device according to claim 4, characterized in that, The specific criterion for determining the relationship is as follows: (1) When hour, like ,and If so, then select a Type I transfer orbit; like If so, then select a Type II transfer orbit; (2) When hour, like ,and If so, then select a Type I transfer orbit; like If so, then select a Type II transfer orbit; (3) When hour, like ,and If so, then select a Type I transfer orbit; like If so, then a Type II transfer orbit will be selected.

7. A computer device, characterized in that, The computer device includes a memory and a processor, the memory being used to store computer instructions; The processor executes computer instructions stored in the memory to cause the computer device to perform the transfer orbit type selection method according to any one of claims 1 to 3.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer program code, which, when executed by a computer device, performs the transfer orbit type selection method according to any one of claims 1 to 3.

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